الفهرس 
IntroductionOnly 14 pages are availabe for public view
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Abstract
Most Recent researches of Land Vehicular navigation systems focus on
using Global Positioning System (GPS) integrated with Inertial
Navigation System (INS), which depends on a large size tools and of
high cost. Recently, traditional (INS) instruments have been modified
and developed by a new technology known as Micro Electro Mechanical
System (MEMS). This research aims to create an alternative
independent navigation system of low-cost and locally available
components to give a suitable precision for navigational works. This
system consists of (rotary shaft encoders) as sensors, for measuring
distances and directions, instead of the accelerometers and gyroscopes
used in the INS.
Rotary shaft encoder is one of a dead reckoning (DR) tools, it is used for
determining the position of vehicle, since the position depends on three
known parameters ( known past position, direction and distance) . The
shaft encoder is attached with the movement center’s of the vehicle ”
steering for directions and wheel for distance ”, where they translate any
motion made by the vehicle into electric pulses, which in turn is
converted to partial distances and directions through a simple computer
program designed for this purpose by Labview software.
In this thesis, a prototype navigation system is established. Several
experiments had been made after calibrating sensors to get the most
suitable accuracy of this prototype navigation system. The field
experiments were divided into three stages of testing, first stage called
”preliminary ” was used the bike as a vehicle,
-iiithe
initial results showed a lot of errors which reduced and processed
after that and retested again of path approximately 65 m length.
The experiments in second stage were conducted at nearly horizontal
plane areas at two closed loops, the first experiment was a loop of about
200 m length and the second had an approximately 800 m loop length.
The closing errors of the two loops were about 1:80. The third stage was
using the electrical scooter as a vehicle to increase the stability of the
system and the field experiments were divided into two parts, first one
was straight line path with 4 km , the average closing error was about
1/100. The second part length approximately and the other curved path
was of length 2.5km, and final results showed that the closing error was
about to 1/85 almost.
Therefore, the final results of this research showed that (a simple –dead
reckoning system can be used in navigation purposes without using the
dependent systems as GPS and also away of using INS because of its
high cost and difficult governmental regulations.